ITERATIVE FEEDBACK AND LEARNING CONTROL. SERVO SYSTEMS APPLICATIONS

The paper presents aspects concerning two iterative methods in control design: the Iterative Feedback Tuning (IFT) and the Iterative Learning Control (ILC) approaches. The IFT is focused on a new generalized formulation that minimizes an objective function resulting in both controller and reference model tuning. The ILC is expressed as several structures including the original simplified norm-optimal ILC. The theoretical results are validated in case of PI controllers for servo systems with second-order integral type controlled plants and real-time experiments are included. The combination between IFT or ILC and fuzzy control is successful in applications leading to performance enhancement.